优化Dijkstra算法在工厂内物流AGV路径规划的研究

随着工业4.0等战略的提出,大规模的工厂内物流运输和自动化需求促使了AGV的井喷似增加,并且每年都保持高度的增幅。针对工厂内物流运输AGV的路径规划效率等问题,提出一种将Dijkstra算法存储方式变更为邻接表,并通过二叉堆存储未扩展结点的存储模型,实现了数据结构上对邻接结点搜索的优化,得到了一种优化的Dijkstra算法。将其应用于工厂内物流AGV的路径规划,通过基于电子地图的算法仿真验证,该算法在运行效率、占用内存空间方面均优于普通Dijkstra算法。     

基于Anylogic的智能工厂立体物流系统仿真与优化研究

智能工厂需要智能物流系统的支撑，尤其对立体工厂而言，物流系统往往是制约整个智能工厂生产系统能力和效率的主要瓶颈之一。通过仿真技术对智能工厂物流系统进行分析，针对智能工厂的立体物流结构特征，提出了两种优化方案，即分楼层单独优化和多楼层协同优化，并基于Anylogic仿真平台构建了立体物流仿真模型，设计了多种逻辑结构以确保货运电梯和自动引导车（Automated Guided Vehicle,AGV）顺利运行。通过模拟多场景下的物流活动，对不同情境下的AGV数量和利用率以及暂存区物料堆积量等指标进行了分析。结果表明，分楼层单独优化方案可以减少AGV数量，而多楼层协同优化方案能够提高AGV利用率。     

实木板材无人搬运系统的设计

"工业4. 0"时代,智能工厂、智能生产和智能物流成为制造业转型的三大主题,工业机器人和自动导引运输车(Automated Guided Vehicle,AGV)在自动化生产加工中逐渐取代人工,成为企业提高生产效率和经济效益的关键。以实木板材自动化加工工厂为研究对象,设计了一种实木板材无人搬运系统。首先分析了无人搬运系统的设计需求,以实木板材自动加工流水线为基础,确定了无人搬运系统的环境布局;其次根据无人搬运系统框架,完成了电子地图的建立、单AGV路径算法的设计和任务调度规则的设计,然后研究了多AGV协同运作的规划,并进行了软件仿真。实木板材无人搬运系统的设计是实木板材企业实现自动搬运的重要内容,对实木板材加工厂转型升级成为智能工厂提供了技术支撑。     

Dijkstra算法在AGV调度系统中的应用

目前仓储物流配货中,订单的周期短、批量少、批次多,传统的仓储物流模式已很难适应新的需求. 随着自动化仓储物流的不断发展,基于AGV的仓储物流配货技术得到推广与使用. 首先基于仓储物流形式,建立了一个有效仓储空间模型并制订了适于AGV的运行路网,然后根据配单任务需求,给出了AGV运行总距离最短的数学模型,对单任务调用AGV及多任务调用AGV进行分析,运用Dijkstra算法解决了仓储配货系统中AGV与任务的匹配问题.     

自动化物流系统中AGV小车系统的应用探讨

AGV为一种不需要人为驾驶且用激光进行导引的运输车,此小车系统涉及诸多领域,如计算机、电子、光学、机械等,而且在自动化物流系统中得到广泛应用。对于其作用而言,就是基于上位计算机的管理与调度,对AGV车辆进行控制与引导,以此来完成诸如托盘运输等操作,有效解决诸如AGV与AGV间交通管理、下位AGV控制器与上位计算机间的通信等问题,并且在此自动化过程中始终保持较高的作业效率与作业精度。本文就自动化物流系统中AGV小车系统的应用作一探讨。     

洋山四期自动化码头AGV设备控制系统创新研究

洋山四期码头是目前全球单体规模最大、自动化综合程度最高的自动化集装箱码头,采用了最新的软件和自动化控制技术。自动化码头的设备控制系统包含了岸桥、水平运输和堆场三大主要设备的自动化控制,而作为水平运输系统的核心设备,AGV负责把集装箱从岸边到堆场之间进行转运,车辆的路径规划以及交通控制是影响转运效率的关键因素。如何保证AGV能够在计划的规定时间内到达指定位置,是AGV设备控制系统需要解决的主要问题。本文根据洋山四期码头在建设过程中出现的相关问题,开展了技术研究。     

Dijkstra算法在激光导引AGV调度系统中的应用

随着企业信息集成化的发展,AGV自动运输系统作为物流信息化、自动化的重要手段,得到广泛应用。AGV车体的设计制造技术易被掌握,相对而言,AGV自动运输管理系统才是整个系统的技术核心。针对AGV调度算法和路径规划算法以及地图建模方法,结合系统稳定性、实时性等方面的需求进行了研究,以解决电子地图的设计问题。采用Dijkstra算法求解单台AGV最短路径,用C#语言实现算法,解决了小车的道路选择问题,实现了对小车的智能无线控制。     

制造系统中多智能体AGV运输子系统体系结构设计

在论述制造控制系统常用体系结构的基础上,提出了AGV运输子系统的体系结构,并详细阐述了其中的三个主要模块:操作者模块、决策模块和AGV智能体模块。该体系结构有助于充分发挥AGV的灵活性。     

基于路径规划的粮食物流输送控制系统设计

为了解决传统地区粮食仓储物流存在的输送效率低,劳动强度大等问题,设计了基于路径规划的自动化粮食仓储物流智能输送控制系统。该系统由西门子PLC主控制器,扩展输入输出模块,人机界面模块,传感器模块,电机等执行模块构成。通过分析控制系统原理,确定PLC输入输出信号,设计电气接线图,软件程序及人机界面。运行结果表明:该系统实现了粮食的自动化往复输送与搬运,运输车的路径规划。单台工作站提升物流效率2倍以上,路径规划系统提升效率1倍,平均每台工作站可节省人工1人以上。     

基于XML的EPA可扩展设备描述语言设计及应用

针对基于以太网工厂自动化网络控制系统中的现场设备互操作性问题,研究了可扩展标记语言的特点,在此基础上设计了可扩展设备描述语言,提出了基于可扩展设备描述语言的设备描述应用模型和设备描述文档模板。通过开发一个基于可扩展设备描述语言的以太网工厂自动化现场设备描述模块,将该模块嵌入到EPAS-tudio组态软件中,验证了该设计的可行性。     

On a new sectionalized motion control strategy for automated guided vehicles: modeling and simulation validation

As key equipment in logistics system of modern manufacturing factories, the automated guided vehicle (AGV) plays an increasingly important role. Although many strategies for AGV motion control are available, in most cases, only a single control method is utilized during the entire process, which inevitably leads to the lack of flexibility in dealing with problems encountered in various stages of the AGV motion. In this paper, a new approach called sectionalized motion control (SMC) was proposed in order to achieve superb comprehensive performance (i.e., high precision, low energy consumption, and good stability) for the entire AGV tracking process. In this method, considering AGV’s various characteristics in different motion stages (early, middle, and terminal), the neural dynamics-based tracking, energy-efficient tracking, and model predictive control technologies were adopted. Furthermore, a simulation using Matlab software was performed in order to verify the proposed approach. The simulated results showed that the SMC is capable of providing smooth, energy-efficient, robust, and globally stable control for the AGV system.     

基于嵌入式操作系统μC／OS-Ⅱ的多路径AGV设计

传统AGV一般只能沿单一路径行驶,当需要完成各具有指定路径的多任务时,几台AGV在同一工况下则较难有效实现响应功能,常规的AGV不能适应现代化物流系统中的多地、多路径以及多任务的工作需求。嵌入式操作系统凭借其进程调度的高效性和实时性在诸多控制系统应用中发挥了巨大作用。将嵌入式实时操作系统μC／OS-Ⅱ移植到MSP430F149芯片上。较大程度地发挥嵌入式系统的特性,通过触摸屏实现良好的人机交互,较为方便地在两台或多台AGV的使用过程中实现多路径。     

基于模糊神经网络控制的AGV避障路径规划仿真

自动导引车(AGV)作为一种现代化物流设备,在许多领域得到了越来越广泛的应用。AGV在行进过程中的主要任务是避障及路径规划。针对AGV的避障路径规划问题,定义了AGV的行驶环境,提出了AGV避障路径规划的模糊神经网络控制方法,设计了模糊神经网络控制器,并用Matlab进行了仿真。仿真结果表明该模糊神经网络控制器满足控制要求,该研究为进一步精确控制AGV奠定了基础。     

An adaptive control of an autonomous guided vehicle system using cell-mediated immune algorithm controller and vision sensor

In this paper, we proposed an adaptive control method which is named CMIA (cell-mediated immune algorithm) controller with PID scheme. It is based on specific immune response of the biological immune system which is the cell-mediated immune response. It is also applied for the autonomous guided vehicle (AGV) system which is manufactured in this paper. The AGV is used for the port automation to carry container without human and to overcome uncertainty and nonlinearity because of running in the outdoor. To verify the performance of the proposed CMIA controller, some experiments for the AGV system are performed. Finally, the experimental results for the control of steering and speed of an AGV system illustrate the effectiveness of the proposed control scheme. These results for the proposed method also show that it has better performance than other conventional controller design methods. Key Words: Port Automation, Autonomous Guided Vehicle (AGV), Adaptive Control, Cell-Mediated Immune Algorithm (CMIA) Controller, Vision Sensor, Neural Network Identifier (NNI)     

一种FMS中AGV的分层递阶控制系统

系统采用分层递阶的控制结构,实现了FMS中AGV的自动化控制。在介绍了系统组成和功能的基础上,阐述了其原理和实现。     

制造企业精益供应链物流管理信息系统的研究与实现

立足于精益思想，从精益生产的角度研究了制造企业供应链环境下精益物流管理信息系统的体系结构与功能组织。通过分析信息系统组织中关键的物流信息交流门户、物流要素能力平衡和物流库存控制问题，以价值链理论为指导设计了信息系统主要的功能模块，并结合汽车零部件制造企业对原型系统进行了分析与验证。     

AGV视觉导引控制的研究

路径识别和路径跟踪是AGV视觉导引控制中的2个关键问题，本文利用颜色信息识别路径，采用模糊控制策略跟踪路径，系统的鲁棒性高，同时也兼顾了系统的实时性要求。实验表明该算法效果良好。     

Estimation of Part Waiting Time and Fleet Sizing in AGV Systems

As manufacturing systems have grown in size and complexity, material flow control has become one of the key issues for system efficiency, and determination of the number of vehicles required is an important issue in the design of the AGV (automatic guided vehicle) systems for automated material flow control. In an AGV system, a part issues a delivery request for its transportation, and then an empty vehicle is assigned based on a pre-determined vehicle selection rule and provides delivery service. This research presents a fleet sizing procedure for an AGV system with multiple pickup and delivery stations. A queueing model is used to estimate part waiting times. The fleet sizing procedure estimates the minimum number of vehicles needed to ensure a predefined part waiting time limit. While most stochastic models assume first-come-first-served or random vehicle selection rules for the selection of an empty vehicle, this model considers such additional rules as the nearest vehicle selection rule, which is the most popular among all vehicle selection rules. The performance of the proposed model is examined through computational experiments. This work was supported by Korea Research Foundation Grant (KRF-2003-042-D20136).     

On the path layout and operation of an AGV system serving an FMS

A major step in the design of an AGV system involves the choice of its layout. Three different AGV layouts serving the same FMS are compared in this paper: a bidirectional line, a bidirectional loop and a unidirectional loop. Different numbers of vehicles are tried by running an ECSL program written for the AGV/FMS simulation. Various velocities and scheduling policies are used which show that bidirectional layouts are more advantageous than unidirectional ones in general, although the latter have been rendered more competitive by the application of a control algorithm for the avoidance of blockages on the track. Scheduling policies, however, are proved to be a key issue. It is therefore necessary to refer any comparison of layouts to a particular scheduling policy. In addition, it was observed that a compromise between factors measuring AGV-layout performance has to be made when assessing layouts, since these factors often follow opposite trends.